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<div class="title">robot_frontend.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// BSD 3-Clause License</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">// Copyright (C) 2018-2019, Max Planck Gesellschaft</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">// Copyright note valid unless otherwise stated in individual files.</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">// All rights reserved.</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"></span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#pragma once</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &lt;algorithm&gt;</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &lt;cmath&gt;</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;</div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &lt;real_time_tools/threadsafe/threadsafe_timeseries.hpp&gt;</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">#include &lt;robot_interfaces/robot_backend.hpp&gt;</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="preprocessor">#include &lt;robot_interfaces/robot_data.hpp&gt;</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacerobot__interfaces.html">robot_interfaces</a></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;{</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Type&gt;</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="keyword">using</span> Timeseries = real_time_tools::ThreadsafeTimeseries&lt;Type&gt;;</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="keyword">typedef</span> Timeseries&lt;int&gt;::Index TimeIndex;</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Action, <span class="keyword">typename</span> Observation&gt;</div><div class="line"><a name="l00037"></a><span class="lineno"><a class="line" href="classrobot__interfaces_1_1RobotFrontend.html">   37</a></span>&#160;<span class="keyword">class </span><a class="code" href="classrobot__interfaces_1_1RobotFrontend.html">RobotFrontend</a></div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;{</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;    <span class="keyword">typedef</span> Timeseries&lt;int&gt;::Timestamp TimeStamp;</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    <span class="comment">// TODO define Status somewhere else so we don&#39;t have an otherwise</span></div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    <span class="comment">// unnecessary dependency on RobotBackend here.</span></div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="structrobot__interfaces_1_1RobotBackend_1_1Status.html">RobotBackend&lt;Action, Observation&gt;::Status</a> <a class="code" href="structrobot__interfaces_1_1RobotBackend_1_1Status.html">Status</a>;</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    <a class="code" href="classrobot__interfaces_1_1RobotFrontend.html">RobotFrontend</a>(</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;        std::shared_ptr&lt;<a class="code" href="classrobot__interfaces_1_1RobotData.html">RobotData&lt;Action, Observation, Status&gt;</a>&gt; robot_data)</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;        : robot_data_(robot_data)</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    {</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    }</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    Observation get_observation(<span class="keyword">const</span> TimeIndex &amp;t)</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    {</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;        <span class="keywordflow">return</span> (*robot_data_-&gt;observation)[t];</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    }</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    Action get_desired_action(<span class="keyword">const</span> TimeIndex &amp;t)</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    {</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;        <span class="keywordflow">return</span> (*robot_data_-&gt;desired_action)[t];</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    }</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    Action get_applied_action(<span class="keyword">const</span> TimeIndex &amp;t)</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    {</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;        <span class="keywordflow">return</span> (*robot_data_-&gt;applied_action)[t];</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    }</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    TimeStamp get_time_stamp_ms(<span class="keyword">const</span> TimeIndex &amp;t)</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    {</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;        <span class="keywordflow">return</span> robot_data_-&gt;observation-&gt;timestamp_ms(t);</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    }</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    TimeIndex get_current_timeindex()</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    {</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;        <span class="keywordflow">return</span> robot_data_-&gt;observation-&gt;newest_timeindex();</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    }</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    TimeIndex append_desired_action(<span class="keyword">const</span> Action &amp;desired_action)</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    {</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;        <span class="comment">// since the timeseries has a finite memory, we need to make sure that</span></div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;        <span class="comment">// by appending new actions we do not forget about actions which have</span></div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;        <span class="comment">// not been applied yet</span></div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;        <span class="keywordflow">if</span> (robot_data_-&gt;desired_action-&gt;length() ==</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;                robot_data_-&gt;desired_action-&gt;max_length() &amp;&amp;</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;            robot_data_-&gt;desired_action-&gt;oldest_timeindex() ==  <span class="comment">// FIXME &gt;=</span></div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;                get_current_timeindex())</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;        {</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;            std::cout</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;                &lt;&lt; <span class="stringliteral">&quot;you have been appending actions too fast, waiting for &quot;</span></div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;                   <span class="stringliteral">&quot;RobotBackend to catch up with executing actions.&quot;</span></div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;                &lt;&lt; std::endl;</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;            wait_until_timeindex(</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;                robot_data_-&gt;desired_action-&gt;oldest_timeindex() + 1);</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;        }</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;        robot_data_-&gt;desired_action-&gt;append(desired_action);</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;        <span class="keywordflow">return</span> robot_data_-&gt;desired_action-&gt;newest_timeindex();</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    }</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    <span class="keywordtype">void</span> wait_until_timeindex(<span class="keyword">const</span> TimeIndex &amp;t)</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    {</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;        robot_data_-&gt;observation-&gt;timestamp_ms(t);</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    }</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;<span class="keyword">private</span>:</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    std::shared_ptr&lt;RobotData&lt;Action, Observation, Status&gt;&gt; robot_data_;</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;};</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;}  <span class="comment">// namespace robot_interfaces</span></div><div class="ttc" id="classrobot__interfaces_1_1RobotData_html"><div class="ttname"><a href="classrobot__interfaces_1_1RobotData.html">robot_interfaces::RobotData</a></div><div class="ttdoc">Contains all the input and output data of the robot. </div><div class="ttdef"><b>Definition:</b> robot_data.hpp:50</div></div>
<div class="ttc" id="classrobot__interfaces_1_1RobotFrontend_html"><div class="ttname"><a href="classrobot__interfaces_1_1RobotFrontend.html">robot_interfaces::RobotFrontend</a></div><div class="ttdoc">Communication link between RobotData and the user. </div><div class="ttdef"><b>Definition:</b> robot_frontend.hpp:37</div></div>
<div class="ttc" id="structrobot__interfaces_1_1RobotBackend_1_1Status_html"><div class="ttname"><a href="structrobot__interfaces_1_1RobotBackend_1_1Status.html">robot_interfaces::RobotBackend::Status</a></div><div class="ttdef"><b>Definition:</b> robot_backend.hpp:40</div></div>
<div class="ttc" id="namespacerobot__interfaces_html"><div class="ttname"><a href="namespacerobot__interfaces.html">robot_interfaces</a></div><div class="ttdef"><b>Definition:</b> __init__.py:1</div></div>
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